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    <meta name="description" content="一些有意思的专用名词解释：  饿死(starved)：饿死常常出现在多任务执行的情况，一个最简单的例子就是。任务2的优先级比任务1的优先级高，并且总是可运行，因此任务2是唯一一个一直处于运行态的任务。而任务1不可能进入运行态。这种情况就是任务1被任务2饿死了。  一、在应用程序中，FreeRTOS如何为各任务分配处理时间​		每个任务的运行时间都以时间片为单位。调度器需要在每个时间片的结束时刻进入">
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      <time title="创建时间：2020-08-25 11:46:39 / 修改时间：11:50:33" itemprop="dateCreated datePublished" datetime="2020-08-25T11:46:39+08:00">2020-08-25</time>
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        <p>一些有意思的专用名词解释：</p>
<ul>
<li>饿死(starved)：饿死常常出现在多任务执行的情况，一个最简单的例子就是。任务2的优先级比任务1的优先级高，并且总是可运行，因此任务2是唯一一个一直处于运行态的任务。而任务1不可能进入运行态。这种情况就是任务1被任务2饿死了。</li>
</ul>
<h4 id="一、在应用程序中，FreeRTOS如何为各任务分配处理时间"><a href="#一、在应用程序中，FreeRTOS如何为各任务分配处理时间" class="headerlink" title="一、在应用程序中，FreeRTOS如何为各任务分配处理时间"></a>一、在应用程序中，FreeRTOS如何为各任务分配处理时间</h4><p>​		每个任务的运行时间都以时间片为单位。调度器需要在每个时间片的结束时刻进入<strong>心跳中断函数</strong>，来决定下一个时间片应该运行什么函数。而心跳中断频率由FreeRTOSConfig.h 中的编译时配置常量 configTICK_RATE_HZ 进行配置。比如说，如果 configTICK_RATE_HZ 设为 100(HZ)，则时间片长度为 10ms<br><img src="/FreeRTOS%E5%9F%BA%E7%A1%80%E6%A6%82%E5%BF%B5%5C%E4%BB%BB%E5%8A%A1%E5%88%87%E6%8D%A2.png" alt="任务切换基本原理"></p>
<h4 id="二、在任意给定时刻，FreeRTOS如何选择任务投入运行"><a href="#二、在任意给定时刻，FreeRTOS如何选择任务投入运行" class="headerlink" title="二、在任意给定时刻，FreeRTOS如何选择任务投入运行"></a>二、在任意给定时刻，FreeRTOS如何选择任务投入运行</h4><p>​		在任意给定时刻，FreeRTOS执行处于就绪状态的任务，如果有多个就绪状态任务，则根据任务优先级来判断执行哪一个。如果此时没有就绪状态的任务，则执行定义好的<strong>空任务函数</strong>。</p>
<h4 id="三、任务优先级如何影响系统行为"><a href="#三、任务优先级如何影响系统行为" class="headerlink" title="三、任务优先级如何影响系统行为"></a>三、任务优先级如何影响系统行为</h4><p>​		低优先级号表示任务的优先级低，优先级号0表示最低优先级。有效的优先级号范围从0到(configMAX_PRIORITES – 1) ，<strong>当两个任务都可以被执行(ready)时，高优先级的任务会被执行</strong>。FreeRTOS也可以设置同优先级任务。</p>
<h4 id="四、任务存在哪些状态"><a href="#四、任务存在哪些状态" class="headerlink" title="四、任务存在哪些状态"></a>四、任务存在哪些状态</h4><p>​		由于只有一个处理器来执行程序，则任意时刻只有一个程序在运行。所有的任务都有基本的两个状态：<strong>运行状态</strong>和<strong>非运行状态</strong>(休眠)。为了使不同优先级的任务都能运行，不至于出现谁饿死谁的情况，将“非运行状态”扩充为不同状态，如阻塞、挂起等，以便于实现任务调度。下面来逐一解释各个状态</p>
<ul>
<li>阻塞状态(blocked)：任务可以进入阻塞以等待以下另种不同类型的时间<ol>
<li>定时（时间相关）事件——这类事件可以是延迟到期或是绝对时间到点。比如说某个任务可以进入阻塞态以延迟10ms，可以程序设定等待超时时间。</li>
<li>同步事件——源于其他任务或中断的事件。比如说，某个任务可以进入阻塞态以等待队列中有数据到来。同步事件囊括了所有板级范围内的事件类型。</li>
</ol>
</li>
<li>挂起状态(suspended)：进入挂起状态的唯一办法是调用vTaskSuspend()API函数；唤醒任务的唯一途径是调用vTaskResume()或vTaskResumeFromlSR()API函数。<strong>大多数应用程序不会用到挂起状态</strong></li>
<li>就绪状态(ready)：任务处于非运行态，但是既没有阻塞也没有挂起。<strong>处于就绪态的任务能够被运行</strong></li>
</ul>
<p>完整的状态转移图：</p>
<p><img src="/FreeRTOS%E5%9F%BA%E7%A1%80%E6%A6%82%E5%BF%B5%5CFreeRTOS%E4%BB%BB%E5%8A%A1%E7%8A%B6%E6%80%81%E8%BD%AC%E5%8C%96%E5%9B%BE.png" alt="状态转换图"></p>
<h4 id="五、基础使用与配置"><a href="#五、基础使用与配置" class="headerlink" title="五、基础使用与配置"></a>五、基础使用与配置</h4><ol>
<li><p>如何实现一个任务<br>1）调用xTaskCreate()创建任务，主要是对任务的各项属性进行配置</p>
<figure class="highlight c"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br></pre></td><td class="code"><pre><span class="line">portBASE_TYPE <span class="title function_">xTaskCreate</span><span class="params">( pdTASK_CODE pvTaskCode,</span></span><br><span class="line"><span class="params">						<span class="type">const</span> <span class="type">signed</span> portCHAR * <span class="type">const</span> pcName,</span></span><br><span class="line"><span class="params">						<span class="type">unsigned</span> portSHORT usStackDepth,</span></span><br><span class="line"><span class="params">						<span class="type">void</span> *pvParameters,</span></span><br><span class="line"><span class="params">						<span class="type">unsigned</span> portBASE_TYPE uxPriority,</span></span><br><span class="line"><span class="params">						xTaskHandle *pxCreatedTask )</span>;</span><br></pre></td></tr></table></figure>

<p>2）创建任务函数实体，这是代码实际执行的函数</p>
<figure class="highlight c"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br><span class="line">12</span><br><span class="line">13</span><br><span class="line">14</span><br><span class="line">15</span><br><span class="line">16</span><br><span class="line">17</span><br></pre></td><td class="code"><pre><span class="line"><span class="type">void</span> <span class="title function_">vTask1</span><span class="params">( <span class="type">void</span> *pvParameters )</span></span><br><span class="line">&#123;</span><br><span class="line">    <span class="type">const</span> <span class="type">char</span> *pcTaskName = <span class="string">&quot;Task 1 is running\r\n&quot;</span>;</span><br><span class="line">    <span class="keyword">volatile</span> <span class="type">unsigned</span> <span class="type">long</span> ul;</span><br><span class="line">    <span class="comment">/* 和大多数任务一样，该任务处于一个死循环中。 */</span></span><br><span class="line">    <span class="keyword">for</span>( ;; )</span><br><span class="line">    &#123;</span><br><span class="line">        <span class="comment">/* Print out the name of this task. */</span></span><br><span class="line">        vPrintString( pcTaskName );</span><br><span class="line">        <span class="comment">/* 延迟，以产生一个周期 */</span></span><br><span class="line">        <span class="keyword">for</span>( ul = <span class="number">0</span>; ul &lt; mainDELAY_LOOP_COUNT; ul++ )</span><br><span class="line">        &#123;</span><br><span class="line">        <span class="comment">/* 这个空循环是最原始的延迟实现方式。在循环中不做任何事情。后面的示例程序将采用</span></span><br><span class="line"><span class="comment">        delay/sleep函数代替这个原始空循环。 */</span></span><br><span class="line">        &#125;</span><br><span class="line">    &#125;</span><br><span class="line">&#125;</span><br></pre></td></tr></table></figure>


</li>
<li><p>如何创建一个或多个任务的实例<br>通过void *pvParameters的参数传递，来使功能相同的函数，通过不同参数的传入来实现不同的用户需求</p>
</li>
<li><p>如何改变一个已创建任务的优先级<br>xTaskCreate() API 函数的参数 uxPriority 为创建的任务赋予了一个初始优先级。这<br>个优先级可以在调度器启动后调用 vTaskPrioritySet() API 函数进行修改。  </p>
</li>
<li><p>如何删除任务</p>
<figure class="highlight c"><table><tr><td class="gutter"><pre><span class="line">1</span><br></pre></td><td class="code"><pre><span class="line"><span class="type">void</span> <span class="title function_">vTaskDelete</span><span class="params">( xTaskHandle pxTaskToDelete )</span>;  </span><br></pre></td></tr></table></figure>
</li>
<li><p>空闲任务何时运行，可以用来干什么<br>空闲任务拥有最低优先级，以保证其不会妨碍具有更高优先级的应用任务进入运行态。空闲任务通常为延时很小的循环。用来在CPU没有代码运行时，让CPU有事可干</p>
</li>
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